brianhansonxyz/clearpilot
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

wip

Browse Source
This commit is contained in:
Your Name
2024-06-15 21:05:30 -05:00
parent 4702c22aa3
commit 0c36ffdfde
1 changed files with 31 additions and 23 deletions
Download Patch File Download Diff File Expand all files Collapse all files

20
selfdrive/manager/process.py
View File

@@ -20,6 +20,8 @@ from openpilot.common.swaglog import cloudlog
WATCHDOG_FN = "/dev/shm/wd_" WATCHDOG_FN = "/dev/shm/wd_"
ENABLE_WATCHDOG = os.getenv("NO_WATCHDOG") is None ENABLE_WATCHDOG = os.getenv("NO_WATCHDOG") is None
_log_dir = ""
def nativelauncher(pargs: list[str], cwd: str, name: str, log_path: str) -> None: def nativelauncher(pargs: list[str], cwd: str, name: str, log_path: str) -> None:
os.environ['MANAGER_DAEMON'] = name os.environ['MANAGER_DAEMON'] = name
with open(log_path, 'a') as log_file: with open(log_path, 'a') as log_file:
@@ -71,7 +73,6 @@ class ManagerProcess(ABC):
def start(self) -> None: def start(self) -> None:
pass pass
def restart(self) -> None: def restart(self) -> None:
if self.proc is not None and self.proc.exitcode is not None: if self.proc is not None and self.proc.exitcode is not None:
self.stop(sig=signal.SIGKILL, block=False) self.stop(sig=signal.SIGKILL, block=False)
@@ -150,7 +151,9 @@ class NativeProcess(ManagerProcess):
def prepare(self) -> None: def prepare(self) -> None:
pass pass
def start(self, log_path: str) -> None: def start(self) -> None:
global _log_dir
log_path = _log_dir+"/"+self.name+".log"
if self.shutting_down or self.proc is not None: if self.shutting_down or self.proc is not None:
return return
self.proc = Process(target=nativelauncher, args=(self.cmdline, os.path.join(BASEDIR, self.cwd), self.name, log_path)) self.proc = Process(target=nativelauncher, args=(self.cmdline, os.path.join(BASEDIR, self.cwd), self.name, log_path))
@@ -171,7 +174,9 @@ class PythonProcess(ManagerProcess):
cloudlog.info(f"preimporting {self.module}") cloudlog.info(f"preimporting {self.module}")
importlib.import_module(self.module) importlib.import_module(self.module)
def start(self, log_path: str) -> None: def start(self) -> None:
global _log_dir
log_path = _log_dir+"/"+self.name+".log"
if self.shutting_down or self.proc is not None: if self.shutting_down or self.proc is not None:
return return
self.proc = Process(name=self.name, target=launcher, args=(self.module, self.name, log_path)) self.proc = Process(name=self.name, target=launcher, args=(self.module, self.name, log_path))
@@ -196,7 +201,9 @@ class DaemonProcess(ManagerProcess):
def prepare(self) -> None: def prepare(self) -> None:
pass pass
def start(self, log_path: str) -> None: def start(self) -> None:
global _log_dir
log_path = _log_dir+"/"+self.name+".log"
if self.params is None: if self.params is None:
self.params = Params() self.params = Params()
@@ -222,15 +229,16 @@ class DaemonProcess(ManagerProcess):
def ensure_running(procs: ValuesView[ManagerProcess], started: bool, params=None, CP: car.CarParams=None, not_run: list[str] | None=None, log_dir: str = None) -> list[ManagerProcess]: def ensure_running(procs: ValuesView[ManagerProcess], started: bool, params=None, CP: car.CarParams=None, not_run: list[str] | None=None, log_dir: str = None) -> list[ManagerProcess]:
global _log_dir
_log_dir = log_dir
if not_run is None: if not_run is None:
not_run = [] not_run = []
running = [] running = []
for p in procs: for p in procs:
log_path = log_dir+"/"+p.name+".log"
if p.enabled and p.name not in not_run and p.should_run(started, params, CP): if p.enabled and p.name not in not_run and p.should_run(started, params, CP):
if p.proc is None or p.proc.exitcode is not None: if p.proc is None or p.proc.exitcode is not None:
p.start(log_path) p.start()
running.append(p) running.append(p)
else: else:
p.stop(block=False) p.stop(block=False)